version: 66.11
glider: 189
mission: 7
dive: 16
start: 9 16 112 10 4 17
data:
$ID,189
$MISSION,7
$DIVE,16
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.01103
$HD_C,2.7848e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-46192.098
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2534
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,160912,094734,2444.679,-3745.614,29,0.9,30,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-63.3
$GPS2,160912,100317,2444.784,-3745.615,15,0.9,16,-13.9
$SPEED_LIMITS,0.127,0.199
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.016,-0.199
$KALMAN_X,-549.9,380.7,-15.4,27594.5,-627.5
$KALMAN_Y,6162.1,50.3,-97.5,10870.4,1868.4
$MHEAD_RNG_PITCHd_Wd,189.4,45050,-16.3,-7.333,-20.21
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.08,-117.3,0.0,0.0,0,64,0.00,0.00,-42.30,0.000,2,0.000,0.000,163,1832,2580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-1.08,-117.3,2.6,-4.1,4,93,9.48,2.22,-11.02,0.000,4,0.216,0.053,2637,3286,3013,0,0,0,0,0,0,26.00,26.24,26.55
$GC,194,-0.91,-117.3,18.4,-15.6,16,201,0.25,2.15,0.00,0.000,6,0.155,0.028,2706,1831,3015,0,0,0,0,0,0,26.18,26.35,28.83
$GC,510,-0.82,-117.3,65.5,-14.7,43,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1831,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,811,-0.76,-117.3,95.6,-8.5,58,816,0.12,2.15,0.00,0.000,4,0.164,0.044,2747,420,3015,0,0,0,0,0,0,26.48,26.57,28.83
$GC,914,-0.72,-117.3,103.9,-8.1,63,920,0.12,2.15,0.00,0.000,6,0.157,0.028,2770,1892,3018,0,0,0,0,0,0,26.48,26.65,28.83
$GC,1236,-0.72,-117.3,130.1,-9.8,79,1242,0.00,2.22,0.00,0.000,4,0.000,0.044,2771,428,3018,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1398,-0.72,-117.3,145.9,-9.2,87,1403,0.00,2.12,0.00,0.000,6,0.000,0.028,2762,1880,3018,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1720,-0.74,-117.3,168.7,-6.8,103,1726,0.00,2.08,0.00,0.000,4,0.000,0.042,2751,3274,3017,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1837,-0.74,-117.3,176.8,-7.9,108,1843,0.00,2.10,0.00,0.000,6,0.000,0.027,2752,1830,3017,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2142,-0.74,-117.3,202.8,-7.7,124,2147,0.00,2.12,0.00,0.000,4,0.000,0.047,2751,427,3017,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2198,-0.74,-117.3,206.0,-7.6,126,2204,0.00,2.12,0.00,0.000,6,0.000,0.028,2741,1891,3017,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2504,-0.74,-117.3,231.0,-8.7,142,2509,0.00,2.22,0.00,0.000,4,0.000,0.046,2741,425,3016,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2555,-0.74,-117.3,235.1,-9.5,144,2560,0.12,2.12,0.00,0.000,6,0.154,0.028,2764,1887,3016,0,0,0,0,0,0,26.64,26.79,28.83
$GC,2868,-0.78,-117.3,261.2,-7.3,160,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1887,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3168,-0.83,-117.3,282.4,-7.2,175,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1887,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3488,-0.89,-117.3,305.8,-7.3,190,3494,0.12,2.22,0.00,0.000,4,0.085,0.045,2694,429,3013,0,0,0,0,0,0,26.84,26.76,28.83
$GC,3540,-0.92,-117.3,309.1,-8.0,191,3545,0.00,2.12,0.00,0.000,6,0.000,0.028,2683,1886,3013,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3852,-0.89,-117.3,345.4,-11.0,202,3854,0.12,0.00,0.00,0.000,6,0.161,0.000,2717,1886,3012,0,0,0,0,0,0,26.70,28.83,28.83
$GC,4152,-0.89,-117.3,374.1,-9.3,212,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1886,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4452,-0.89,-117.3,398.5,-8.0,222,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1886,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4752,-0.89,-117.3,422.8,-8.1,232,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1886,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5052,-0.89,-117.3,446.5,-7.5,242,5057,0.00,2.25,0.00,0.000,4,0.000,0.047,2718,428,3007,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5095,-0.89,-117.3,449.0,-7.4,243,5100,0.00,2.12,0.00,0.000,6,0.000,0.029,2708,1882,3007,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5417,-0.89,-117.3,471.6,-6.7,254,5422,0.00,2.22,0.00,0.000,4,0.000,0.047,2708,430,3006,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5488,-0.89,-117.3,476.7,-7.6,256,5493,0.00,2.12,0.00,0.000,6,0.000,0.030,2698,1881,3005,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5810,-0.89,-117.3,509.4,-10.9,267,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1881,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6110,-0.89,-117.3,541.2,-10.2,277,6115,0.00,2.22,0.00,0.000,4,0.000,0.049,2697,431,3003,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6156,-0.89,-117.3,544.5,-10.2,278,6161,0.00,2.12,0.00,0.000,6,0.000,0.030,2687,1880,3002,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6472,-0.89,-117.3,573.7,-8.3,289,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1880,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6772,-0.89,-117.3,598.6,-8.2,299,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1880,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7072,-0.89,-117.3,623.7,-8.4,309,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1880,2998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7372,-0.89,-117.3,649.0,-8.3,319,7378,0.00,2.25,0.00,0.000,4,0.000,0.050,2686,421,2997,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7453,-0.89,-117.3,654.6,-8.7,321,7459,0.15,2.15,0.00,0.000,6,0.150,0.031,2718,1882,2997,0,0,0,0,0,0,26.65,26.82,28.83
$GC,7767,-0.93,-117.3,676.1,-6.2,332,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1882,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8066,-0.98,-117.3,698.0,-7.9,342,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1881,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8367,-1.03,-117.3,723.7,-8.8,352,8369,0.15,0.00,0.00,0.000,6,0.080,0.000,2652,1882,2994,0,0,0,0,0,0,26.84,28.83,28.83
$GC,8666,-1.03,-117.3,758.9,-12.3,362,8671,0.00,2.28,0.00,0.000,4,0.000,0.050,2652,421,2992,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8712,-1.01,-117.3,763.0,-12.4,363,8718,0.12,2.15,0.00,0.000,6,0.164,0.031,2673,1879,2990,0,0,0,0,0,0,26.63,26.81,28.83
$GC,9030,-1.01,-117.3,800.7,-10.5,374,9036,0.00,2.12,0.00,0.000,4,0.000,0.047,2664,3281,2991,0,0,0,0,0,0,28.83,26.76,28.83
$GC,9111,-1.01,-117.3,806.7,-10.1,376,9116,0.00,2.15,0.00,0.000,6,0.000,0.031,2664,1828,2990,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9423,-1.01,-117.3,835.4,-8.1,387,9428,0.00,2.20,0.00,0.000,4,0.000,0.047,2653,3272,2989,0,0,0,0,0,0,28.83,26.75,28.83
$GC,9464,-1.01,-117.3,837.9,-8.1,388,9469,0.00,2.12,0.00,0.000,6,0.000,0.031,2653,1832,2989,0,0,0,0,0,0,28.83,26.78,28.83
$GC,9786,-1.01,-117.3,867.0,-9.3,399,9791,0.00,2.17,0.00,0.000,4,0.000,0.053,2653,424,2988,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9851,-1.01,-117.3,873.5,-10.1,401,9858,0.12,2.15,0.00,0.000,6,0.164,0.031,2675,1876,2988,0,0,0,0,0,0,26.61,26.80,28.83
$GC,10180,-1.01,-117.3,905.5,-10.0,412,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1876,2988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10480,-1.03,-117.3,934.2,-9.3,422,10481,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1876,2986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10780,-1.05,-117.3,960.9,-8.8,432,10785,0.00,2.25,0.00,0.000,4,0.000,0.052,2675,429,2985,0,0,0,0,0,0,28.83,26.71,28.83
$GC,10816,-1.05,-117.3,963.9,-8.9,433,10821,0.00,2.15,0.00,0.000,6,0.000,0.033,2666,1880,2985,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,11111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11111,begin apogee
$GC,11116,-0.29,0.0,991.4,-9.3,443,11216,0.70,0.00,92.88,1.697,6,0.122,0.000,2899,1842,2533,0,0,0,0,0,0,26.59,28.83,23.97
$STATE,11218,end apogee,CONTROL_FINISHED_OK
$STATE,11219,begin climb
$GC,11220,1.08,117.3,994.2,0.0,446,11333,1.27,2.40,103.40,1.670,4,0.073,0.054,3355,433,2053,0,0,0,0,0,0,25.11,24.73,23.79
$GC,11410,0.99,186.6,988.4,4.4,452,11477,0.15,2.25,59.85,1.652,6,0.165,0.031,3319,1880,1773,0,0,0,0,0,0,25.48,25.60,23.82
$GC,11776,0.90,186.6,950.8,10.0,465,11781,0.00,2.17,0.00,0.000,4,0.000,0.044,3315,3278,1767,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11862,0.80,186.6,944.0,10.5,467,11869,0.22,2.20,0.00,0.000,6,0.155,0.032,3263,1836,1766,0,0,0,0,0,0,26.04,26.17,28.83
$GC,12169,0.77,186.6,913.9,8.9,478,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1836,1763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12468,0.74,186.6,885.3,9.8,488,12469,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1836,1762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12768,0.71,186.6,855.4,10.2,498,12774,0.12,2.20,0.00,0.000,4,0.160,0.053,3231,435,1761,0,0,0,0,0,0,26.44,26.49,28.83
$GC,12834,0.71,186.6,849.1,10.1,500,12840,0.00,2.17,0.00,0.000,6,0.000,0.031,3231,1883,1759,0,0,0,0,0,0,28.83,26.57,28.83
$GC,13162,0.71,186.6,819.0,9.1,511,13167,0.00,2.12,0.00,0.000,4,0.000,0.046,3231,3276,1759,0,0,0,0,0,0,28.83,26.58,28.83
$GC,13228,0.71,186.6,813.2,9.2,513,13234,0.00,2.15,0.00,0.000,6,0.000,0.032,3242,1838,1760,0,0,0,0,0,0,28.83,26.59,28.83
$GC,13555,0.71,186.6,783.7,8.7,524,13561,0.00,2.20,0.00,0.000,4,0.000,0.044,3242,3277,1759,0,0,0,0,0,0,28.83,26.61,28.83
$GC,13621,0.71,186.6,778.1,8.8,526,13626,0.00,2.15,0.00,0.000,6,0.000,0.032,3253,1838,1759,0,0,0,0,0,0,28.83,26.63,28.83
$GC,13948,0.71,186.6,749.3,8.6,537,13949,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1838,1759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14248,0.71,186.6,724.7,7.9,547,14249,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1838,1758,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22780,end climb,SURFACE_DEPTH_REACHED
$STATE,22780,begin surface coast
$FINISH,0.5,1.024405
$STATE,22811,end surface coast,CONTROL_FINISHED_OK
$STATE,22812,begin surface
$SM_CCo,22830,31.00,0.127,0,0,1308,300.00
$SM_GC,1.55,8.10,2.17,31.00,0.037,0.027,0.127,164,1828,1308,-8.83,0.59,300.00,0,0,0,0,0,0,26.79,26.76,26.52
$IRIDIUM_FIX,2441.81,-3733.97,160912,030352
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.44
$INTERNAL_PRESSURE,9.13386
$TCM_TEMP,24.60
$XPDR_PINGS,10
$SC_FREEKB,7763744
$TM_FREEKB,7807328
$24V_AH,23.8,5.406
$10V_AH,9.9,4.223
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.375,143.275,276.850,31.000,0.000,28.595,44.819,534.592,2.500,0.000,16.597,2837.271,17319.232,453.498,2989.629,194.032,33.268,1594.852,0.000,2081.803,0.000,0.539,0.000
$DEVICE_MAMPS,215.730,144.585,1696.770,126.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22845.000,5837.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.861,13.645,0.000,0.000
$MEM,344848
$DATA_FILE_SIZE,26659,919
$CAP_FILE_SIZE,228201,0
$CFSIZE,260034560,254496768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160912,162628,2442.396,-3744.896,37,0.8,38,-13.9